OpenRaiser/Intern-Atlas huggingface dataset:
When Models Know When They Do Not Know: Calibration, Cascading, and Cleaning
Venue: arXiv cs.AI 2026
Year: 2026

When a model knows when it does not know, many possibilities emerge. The first question is how to enable a model to recognize that it does not know. A promising approach is to use confidence, computed from the model's internal signals, to reflect its ignorance. Prior work in specific domains has shown that calibration can provide reliable confidence estimates. In this work, we propose a simple, effective, and universal training-free method that applies to both vision and language models, performing model calibration, cascading, and data cleaning to better exploit a model's ability to recognize when it does not know. We first highlight two key empirical observations: higher confidence corresponds to higher accuracy within a single model, and models calibrated on the validation set remain calibrated on a held-out test set. These findings empirically establish the reliability and comparability of calibrated confidence. Building on this, we introduce two applications: (1) model cascading with calibrated advantage routing and (2) data cleaning based on model ensemble. Using the routing signal derived from the comparability of calibrated confidences, we cascade large and small models to improve efficiency with almost no compromise in accuracy, and we further cascade two models of comparable scale to achieve performance beyond either model alone. Leveraging multiple experts and their calibrated confidences, we design a simple yet effective data-cleaning method that balances precision and detection rate to identify mislabeled samples in ImageNet and Massive Multitask Language Understanding (MMLU) datasets. Our results demonstrate that enabling models to recognize when they do not know is a practical step toward more efficient, reliable, and trustworthy AI.
An Efficient Additive Kolmogorov-Arnold Transformer for Point-Level Maize Localization in Unmanned Aerial Vehicle Imagery
Venue: arXiv cs.CV 2026
Year: 2026

High-resolution UAV photogrammetry has become a key technology for precision agriculture, enabling centimeter-level crop monitoring and point-level plant localization. However, point-level maize localization in UAV imagery remains challenging due to (1) extremely small object-to-pixel ratios, typically less than 0.1%, (2) prohibitive computational costs of quadratic attention on ultra-high-resolution images larger than 3000 x 4000 pixels, and (3) agricultural scene-specific complexities such as sparse object distribution and environmental variability that are poorly handled by general-purpose vision models. To address these challenges, we propose the Additive Kolmogorov-Arnold Transformer (AKT), which replaces conventional multilayer perceptrons with Pade Kolmogorov-Arnold Network (PKAN) modules to enhance functional expressivity for small-object feature extraction, and introduces PKAN Additive Attention (PAA) to model multiscale spatial dependencies with reduced computational complexity. In addition, we present the Point-based Maize Localization (PML) dataset, consisting of 1,928 high-resolution UAV images with approximately 501,000 point annotations collected under real field conditions. Extensive experiments show that AKT achieves an average F1-score of 62.8%, outperforming state-of-the-art methods by 4.2%, while reducing FLOPs by 12.6% and improving inference throughput by 20.7%. For downstream tasks, AKT attains a mean absolute error of 7.1 in stand counting and a root mean square error of 1.95-1.97 cm in interplant spacing estimation. These results demonstrate that integrating Kolmogorov-Arnold representation theory with efficient attention mechanisms offers an effective framework for high-resolution agricultural remote sensing.
Likelihood ratio for a binary Bayesian classifier under a noise-exclusion model
Venue: arXiv cs.CV 2026
Year: 2026

We develop a new statistical ideal observer model that performs holistic visual search (or gist) processing in part by placing thresholds on minimum extractable image features. In this model, the ideal observer reduces the number of free parameters thereby shrinking down the system. The applications of this novel framework is in medical image perception (for optimizing imaging systems and algorithms), computer vision, benchmarking performance and enabling feature selection/evaluations. Other applications are in target detection and recognition in defense/security as well as evaluating sensors and detectors.
LLM Review: Enhancing Creative Writing via Blind Peer Review Feedback
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) often struggle with creative generation, and multi-agent frameworks that improve reasoning through interaction can paradoxically hinder creativity by inducing content homogenization. We introduce LLM Review, a peer-review-inspired framework implementing Blind Peer Review: agents exchange targeted feedback while revising independently, preserving divergent creative trajectories. To enable rigorous evaluation, we propose SciFi-100, a science fiction writing dataset with a unified framework combining LLM-as-a-judge scoring, human annotation, and rule-based novelty metrics. Experiments demonstrate that LLM Review consistently outperforms multi-agent baselines, and smaller models with our framework can surpass larger single-agent models, suggesting interaction structure may substitute for model scale.
Internal Deployment Gaps in AI Regulation
Venue: arXiv cs.AI 2026
Year: 2026

Frontier AI regulations primarily focus on systems deployed to external users, where deployment is more visible and subject to outside scrutiny. However, high-stakes applications can occur internally when companies deploy highly capable systems within their own organizations, such as for automating R&D, accelerating critical business processes, and handling sensitive proprietary data. This paper examines how frontier AI regulations in the United States and European Union in 2025 handle internal deployment. We identify three gaps that could cause internally-deployed systems to evade intended oversight: (1) scope ambiguity that allows internal systems to evade regulatory obligations, (2) point-in-time compliance assessments that fail to capture the continuous evolution of internal systems, and (3) information asymmetries that subvert regulatory awareness and oversight. We then analyze why these gaps persist, examining tensions around measurability, incentives, and information access. Finally, we map potential approaches to address them and their associated tradeoffs. By understanding these patterns, we hope that policy choices around internally deployed AI systems can be made deliberately rather than incidentally.
CASHEW: Stabilizing Multimodal Reasoning via Iterative Trajectory Aggregation
Venue: arXiv cs.CV 2026
Year: 2026

Vision-language models achieve strong performance across a wide range of multimodal understanding and reasoning tasks, yet their multi-step reasoning remains unstable. Repeated sampling over the same input often produces divergent reasoning trajectories and inconsistent final predictions. To address this, we introduce two complementary approaches inspired by test-time scaling: (1) CASHEW, an inference-time framework that stabilizes reasoning by iteratively aggregating multiple candidate trajectories into higher-quality reasoning traces, with explicit visual verification filtering hallucinated steps and grounding reasoning in visual evidence, and (2) CASHEW-RL, a learned variant that internalizes this aggregation behavior within a single model. CASHEW-RL is trained using Group Sequence Policy Optimization (GSPO) with a composite reward that encourages correct answers grounded in minimal yet sufficient visual evidence, while adaptively allocating reasoning effort based on task difficulty. This training objective enables robust self-aggregation at inference. Extensive experiments on 13 image understanding, video understanding, and video reasoning benchmarks show significant performance improvements, including gains of up to +23.6 percentage points on ScienceQA and +8.1 percentage points on EgoSchema.
Decoder Generates Manufacturable Structures: A Framework for 3D-Printable Object Synthesis
Venue: arXiv cs.CV 2026
Year: 2026

This paper presents a novel decoder-based approach for generating manufacturable 3D structures optimized for additive manufacturing. We introduce a deep learning framework that decodes latent representations into geometrically valid, printable objects while respecting manufacturing constraints such as overhang angles, wall thickness, and structural integrity. The methodology demonstrates that neural decoders can learn complex mapping functions from abstract representations to valid 3D geometries, producing parts with significantly improved manufacturability compared to naive generation approaches. We validate the approach on diverse object categories and demonstrate practical 3D printing of decoder-generated structures.
InfGraND: An Influence-Guided GNN-to-MLP Knowledge Distillation
Venue: arXiv cs.LG 2026
Year: 2026

Graph Neural Networks (GNNs) are the go-to model for graph data analysis. However, GNNs rely on two key operations - aggregation and update, which can pose challenges for low-latency inference tasks or resource-constrained scenarios. Simple Multi-Layer Perceptrons (MLPs) offer a computationally efficient alternative. Yet, training an MLP in a supervised setting often leads to suboptimal performance. Knowledge Distillation (KD) from a GNN teacher to an MLP student has emerged to bridge this gap. However, most KD methods either transfer knowledge uniformly across all nodes or rely on graph-agnostic indicators such as prediction uncertainty. We argue this overlooks a more fundamental, graph-centric inquiry: "How important is a node to the structure of the graph?" We introduce a framework, InfGraND, an Influence-guided Graph KNowledge Distillation from GNN to MLP that addresses this by identifying and prioritizing structurally influential nodes to guide the distillation process, ensuring that the MLP learns from the most critical parts of the graph. Additionally, InfGraND embeds structural awareness in MLPs through one-time multi-hop neighborhood feature pre-computation, which enriches the student MLP's input and thus avoids inference-time overhead. Our rigorous evaluation in transductive and inductive settings across seven homophilic graph benchmark datasets shows InfGraND consistently outperforms prior GNN to MLP KD methods, demonstrating its practicality for numerous latency-critical applications in real-world settings.
Fiducial Exoskeletons: Image-Centric Robot State Estimation
Venue: arXiv cs.RO 2026
Year: 2026

We introduce Fiducial Exoskeletons, an image-based reformulation of 3D robot state estimation that replaces cumbersome procedures and motor-centric pipelines with single-image inference. Traditional approaches - especially robot-camera extrinsic estimation - often rely on high-precision actuators and require time-consuming routines such as hand-eye calibration. In contrast, modern learning-based robot control is increasingly trained and deployed from RGB observations on lower-cost hardware. Our key insight is twofold. First, we cast robot state estimation as 6D pose estimation of each link from a single RGB image: the robot-camera base transform is obtained directly as the estimated base-link pose, and the joint state is recovered via a lightweight global optimization that enforces kinematic consistency with the observed link poses (optionally warm-started with encoder readings). Second, we make per-link 6D pose estimation robust and simple - even without learning - by introducing the fiducial exoskeleton: a lightweight 3D-printed mount with a fiducial marker on each link and known marker-link geometry. This design yields robust camera-robot extrinsics, per-link SE(3) poses, and joint-angle state from a single image, enabling robust state estimation even on unplugged robots. Demonstrated on a low-cost robot arm, fiducial exoskeletons substantially simplify setup while improving calibration, state accuracy, and downstream 3D control performance. We release code and printable hardware designs to enable further algorithm-hardware co-design.
MemoBrain: Executive Memory as an Agentic Brain for Reasoning
Venue: arXiv cs.AI 2026
Year: 2026

Complex reasoning in tool-augmented agent frameworks is inherently long-horizon, causing reasoning traces and transient tool artifacts to accumulate and strain the bounded working context of large language models. Without explicit memory mechanisms, such accumulation disrupts logical continuity and undermines task alignment. This positions memory not as an auxiliary efficiency concern, but as a core component for sustaining coherent, goal-directed reasoning over long horizons. We propose MemoBrain, an executive memory model for tool-augmented agents that constructs a dependency-aware memory over reasoning steps, capturing salient intermediate states and their logical relations. Operating as a co-pilot alongside the reasoning agent, MemoBrain organizes reasoning progress without blocking execution and actively manages the working context. Specifically, it prunes invalid steps, folds completed sub-trajectories, and preserves a compact, high-salience reasoning backbone under a fixed context budget. Together, these mechanisms enable explicit cognitive control over reasoning trajectories rather than passive context accumulation. We evaluate MemoBrain on challenging long-horizon benchmarks, including GAIA, WebWalker, and BrowseComp-Plus, demonstrating consistent improvements over strong baselines.
Q-realign: Piggybacking Realignment on Quantization for Safe and Efficient LLM Deployment
Venue: arXiv cs.LG 2026
Year: 2026

Public large language models (LLMs) are typically safety-aligned during pretraining, yet task-specific fine-tuning required for deployment often erodes this alignment and introduces safety risks. Existing defenses either embed safety recovery into fine-tuning or rely on fine-tuning-derived priors for post-hoc correction, leaving safety recovery tightly coupled with training and incurring high computational overhead and a complex workflow. To address these challenges, we propose \texttt{Q-realign}, a post-hoc defense method based on post-training quantization, guided by an analysis of representational structure. By reframing quantization as a dual-objective procedure for compression and safety, \texttt{Q-realign} decouples safety alignment from fine-tuning and naturally piggybacks into modern deployment pipelines. Experiments across multiple models and datasets demonstrate that our method substantially reduces unsafe behaviors while preserving task performance, with significant reductions in memory usage and GPU hours. Notably, our approach can recover the safety alignment of a fine-tuned 7B LLM on a single RTX 4090 within 40 minutes. Overall, our work provides a practical, turnkey solution for safety-aware deployment.
Delaunay Triangulations with Predictions
Venue: arXiv cs.CG 2026
Year: 2026

We investigate algorithms with predictions in computational geometry, specifically focusing on the basic problem of computing 2D Delaunay triangulations. Given a set $P$ of $n$ points in the plane and a triangulation $G$ that serves as a "prediction" of the Delaunay triangulation, we would like to use $G$ to compute the correct Delaunay triangulation $\textit{DT}(P)$ more quickly when $G$ is "close" to $\textit{DT}(P)$. We obtain a variety of results of this type, under different deterministic and probabilistic settings, including the following: 1. Define $D$ to be the number of edges in $G$ that are not in $\textit{DT}(P)$. We present a deterministic algorithm to compute $\textit{DT}(P)$ from $G$ in $O(n + D\log^3 n)$ time, and a randomized algorithm in $O(n+D\log n)$ expected time, the latter of which is optimal in terms of $D$. 2. Let $R$ be a random subset of the edges of $\textit{DT}(P)$, where each edge is chosen independently with probability $ρ$. Suppose $G$ is any triangulation of $P$ that contains $R$. We present an algorithm to compute $\textit{DT}(P)$ from $G$ in $O(n\log\log n + n\log(1/ρ))$ time with high probability. 3. Define $d_{\mbox{\scriptsize\rm vio}}$ to be the maximum number of points of $P$ strictly inside the circumcircle of a triangle in $G$ (the number is 0 if $G$ is equal to $\textit{DT}(P)$). We present a deterministic algorithm to compute $\textit{DT}(P)$ from $G$ in $O(n\log^*n + n\log d_{\mbox{\scriptsize\rm vio}})$ time. We also obtain results in similar settings for related problems such as 2D Euclidean minimum spanning trees, and hope that our work will open up a fruitful line of future research.
Learning a Stochastic Differential Equation Model of Tropical Cyclone Intensification from Reanalysis and Observational Data
Venue: arXiv cs.LG 2026
Year: 2026

Tropical cyclones are dangerous natural hazards, but their hazard is challenging to quantify directly from historical datasets due to limited dataset size and quality. Models of cyclone intensification fill this data gap by simulating huge ensembles of synthetic hurricanes based on estimates of the storm's large scale environment. Both physics-based and statistical/ML intensification models have been developed to tackle this problem, but an open question is: can a physically reasonable and simple physics-style differential equation model of intensification be learned from data? In this paper, we answer this question in the affirmative by presenting a 10-term cubic stochastic differential equation model of Tropical Cyclone intensification. The model depends on a well-vetted suite of engineered environmental features known to drive intensification and is trained using a high quality dataset of hurricane intensity (IBTrACS) with estimates of the cyclone's large scale environment from a data-assimilated simulation (ERA5 reanalysis), restricted to the Northern Hemisphere. The model generates synthetic intensity series which capture many aspects of historical intensification statistics and hazard estimates in the Northern Hemisphere. Our results show promise that interpretable, physics style models of complex earth system dynamics can be learned using automated system identification techniques.
Subspace Alignment for Vision-Language Model Test-time Adaptation
Venue: arXiv cs.CV 2026
Year: 2026

Vision-language models (VLMs), despite their extraordinary zero-shot capabilities, are vulnerable to distribution shifts. Test-time adaptation (TTA) emerges as a predominant strategy to adapt VLMs to unlabeled test data on the fly. However, existing TTA methods heavily rely on zero-shot predictions as pseudo-labels for self-training, which can be unreliable under distribution shifts and misguide adaptation due to two fundamental limitations. First (Modality Gap), distribution shifts induce gaps between visual and textual modalities, making cross-modal relations inaccurate. Second (Visual Nuisance), visual embeddings encode rich but task-irrelevant noise that often overwhelms task-specific semantics under distribution shifts. To address these limitations, we propose SubTTA, which aligns the semantic subspaces of both modalities to enhance zero-shot predictions to better guide the TTA process. To bridge the modality gap, SubTTA extracts the principal subspaces of both modalities and aligns the visual manifold to the textual semantic anchor by minimizing their chordal distance. To eliminate visual nuisance, SubTTA projects the aligned visual features onto the task-specific textual subspace, which filters out task-irrelevant noise by constraining visual embeddings within the valid semantic span, and standard TTA is further performed on the purified space to refine the decision boundaries. Extensive experiments on various benchmarks and VLM architectures demonstrate the effectiveness of SubTTA, yielding an average improvement of 2.24% over state-of-the-art TTA methods.
Qalb: Largest State-of-the-Art Urdu Large Language Model for 230M Speakers with Systematic Continued Pre-training
Venue: arXiv cs.CL 2026
Year: 2026

Despite remarkable progress in large language models, Urdu-a language spoken by over 230 million people-remains critically underrepresented in modern NLP systems. Existing multilingual models demonstrate poor performance on Urdu-specific tasks, struggling with the language's complex morphology, right-to-left Nastaliq script, and rich literary traditions. Even the base LLaMA-3.1 8B-Instruct model shows limited capability in generating fluent, contextually appropriate Urdu text. We introduce Qalb, an Urdu language model developed through a two-stage approach: continued pre-training followed by supervised fine-tuning. Starting from LLaMA 3.1 8B, we perform continued pre-training on a dataset of 1.97 billion tokens. This corpus comprises 1.84 billion tokens of diverse Urdu text-spanning news archives, classical and contemporary literature, government documents, and social media-combined with 140 million tokens of English Wikipedia data to prevent catastrophic forgetting. We then fine-tune the resulting model on the Alif Urdu-instruct dataset. Through extensive evaluation on Urdu-specific benchmarks, Qalb demonstrates substantial improvements, achieving a weighted average score of 90.34 and outperforming the previous state-of-the-art Alif-1.0-Instruct model (87.1) by 3.24 points, while also surpassing the base LLaMA-3.1 8B-Instruct model by 44.64 points. Qalb achieves state-of-the-art performance with comprehensive evaluation across seven diverse tasks including Classification, Sentiment Analysis, and Reasoning. Our results demonstrate that continued pre-training on diverse, high-quality language data, combined with targeted instruction fine-tuning, effectively adapts foundation models to low-resource languages.
A Pin-Array Structure for Gripping and Shape Recognition of Convex and Concave Terrain Profiles
Venue: arXiv cs.RO 2026
Year: 2026

This paper presents a gripper capable of grasping and recognizing terrain shapes for mobile robots in extreme environments. Multi-limbed climbing robots with grippers are effective on rough terrains, such as cliffs and cave walls. However, such robots may fall over by misgrasping the surface or getting stuck owing to the loss of graspable points in unknown natural environments. To overcome these issues, we need a gripper capable of adaptive grasping to irregular terrains, not only for grasping but also for measuring the shape of the terrain surface accurately. We developed a gripper that can grasp both convex and concave terrains and simultaneously measure the terrain shape by introducing a pin-array structure. We demonstrated the mechanism of the gripper and evaluated its grasping and terrain recognition performance using a prototype. Moreover, the proposed pin-array design works well for 3D terrain mapping as well as adaptive grasping for irregular terrains.
Cardinality-consistent flag codes with longer type vectors
Venue: arXiv cs.IT 2026
Year: 2026

Flag codes generalize constant dimension codes by considering sequences of nested subspaces with prescribed dimensions as codewords. A comprehensive construction, which unites cyclic orbit flag codes, yields two families of flag codes on $\mathbb{F}^n_q$ (where $n=sk+h$ with $s\geq 2$ and $0\leq h < k$): optimum distance flag codes of the longest possible type vector $(1, 2, \ldots, k, n-k, \ldots, n-1)$ and flag codes with longer type vectors $(1, 2, \ldots, k+h, 2k+h, \ldots, (s-2)k+h, n-k, \ldots, n-1)$. These flag codes achieve the same cardinality $\sum^{s-1}_{i=1}q^{ik+h}+1$.